- Marco Polo himself: He was the primary traveler and author of the book "Description of the World" (also known as "Travels of Marco Polo"). Polo's personal experiences and observations formed the basis of the travelogue.
- Nicolo Polo and Maffeo Polo (Marco's father and uncle): They were merchants who had previously undertaken a journey to Asia and were instrumental in Marco's travels. They also accompanied Marco on part of his journey.
- Rustichello da Pisa: He was a writer and compiler who collaborated with Marco Polo while they were imprisoned in Genoa after the latter's return to Europe. Rustichello helped Marco organize and compose his travel accounts, resulting in the final written form of the book.
- The Mongol Empire and Kublai Khan: Marco Polo's travels took place during the reign of the Mongol Empire, and in particular, he had extended interactions with Kublai Khan, the great Mongol ruler. Kublai Khan welcomed Polo and his family to his court and allowed them to travel extensively throughout the vast empire.
- Various local guides and assistants: Throughout their journey, Marco Polo and his companions likely relied on local guides and assistants to navigate different regions, communicate with diverse cultures, and overcome language and cultural barriers. These individuals played an important role in facilitating Polo's travels and expanding his knowledge.